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Code Issues Releases Activity

OP-1058: fix needed for fw_revoproto code compilation

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This commit is contained in:
Alessio Morale 2013-08-01 01:18:53 +02:00
parent df90a13558
commit 8351e97faa
2 changed files with 43 additions and 43 deletions
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84
flight/modules/Attitude/revolution/attitude.c
View File

@ -834,12 +834,12 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
value_error = true;
}
if (invalid_var(ekfConfiguration.R[EKFCONFIGURATION_R_GPSPOSNORTH]) ||
invalid_var(ekfConfiguration.R[EKFCONFIGURATION_R_GPSPOSEAST]) ||
invalid_var(ekfConfiguration.R[EKFCONFIGURATION_R_GPSPOSDOWN]) ||
invalid_var(ekfConfiguration.R[EKFCONFIGURATION_R_GPSVELNORTH]) ||
invalid_var(ekfConfiguration.R[EKFCONFIGURATION_R_GPSVELEAST]) ||
invalid_var(ekfConfiguration.R[EKFCONFIGURATION_R_GPSVELDOWN])) {
if (invalid_var(ekfConfiguration.R.fields.GPSPosNorth) ||
invalid_var(ekfConfiguration.R.fields.GPSPosEast) ||
invalid_var(ekfConfiguration.R.fields.GPSPosDown) ||
invalid_var(ekfConfiguration.R.fields.GPSVelNorth) ||
invalid_var(ekfConfiguration.R.fields.GPSVelEast) ||
invalid_var(ekfConfiguration.R.fields.GPSVelDown)) {
gps_updated = false;
value_error = true;
}
@ -892,23 +892,23 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
if (init_stage == 0) {
// Reset the INS algorithm
INSGPSInit();
INSSetMagVar((float[3]) { ekfConfiguration.R[EKFCONFIGURATION_R_MAGX],
ekfConfiguration.R[EKFCONFIGURATION_R_MAGY],
ekfConfiguration.R[EKFCONFIGURATION_R_MAGZ] }
INSSetMagVar((float[3]) { ekfConfiguration.R.fields.MagX,
ekfConfiguration.R.fields.MagY,
ekfConfiguration.R.fields.MagZ }
);
INSSetAccelVar((float[3]) { ekfConfiguration.Q[EKFCONFIGURATION_Q_ACCELX],
ekfConfiguration.Q[EKFCONFIGURATION_Q_ACCELY],
ekfConfiguration.Q[EKFCONFIGURATION_Q_ACCELZ] }
INSSetAccelVar((float[3]) { ekfConfiguration.Q.fields.AccelX,
ekfConfiguration.Q.fields.AccelY,
ekfConfiguration.Q.fields.AccelZ }
);
INSSetGyroVar((float[3]) { ekfConfiguration.Q[EKFCONFIGURATION_Q_GYROX],
ekfConfiguration.Q[EKFCONFIGURATION_Q_GYROY],
ekfConfiguration.Q[EKFCONFIGURATION_Q_GYROZ] }
INSSetGyroVar((float[3]) { ekfConfiguration.Q.fields.GyroX,
ekfConfiguration.Q.fields.GyroY,
ekfConfiguration.Q.fields.GyroZ }
);
INSSetGyroBiasVar((float[3]) { ekfConfiguration.Q[EKFCONFIGURATION_Q_GYRODRIFTX],
ekfConfiguration.Q[EKFCONFIGURATION_Q_GYRODRIFTY],
ekfConfiguration.Q[EKFCONFIGURATION_Q_GYRODRIFTZ] }
INSSetGyroBiasVar((float[3]) { ekfConfiguration.Q.fields.GyroDriftX,
ekfConfiguration.Q.fields.GyroDriftY,
ekfConfiguration.Q.fields.GyroDriftZ }
);
INSSetBaroVar(ekfConfiguration.R[EKFCONFIGURATION_R_BAROZ]);
INSSetBaroVar(ekfConfiguration.R.fields.BaroZ);
// Initialize the gyro bias
float gyro_bias[3] = { 0.0f, 0.0f, 0.0f };
@ -966,7 +966,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
float q[4] = { attitudeState.q1, attitudeState.q2, attitudeState.q3, attitudeState.q4 };
INSSetState(pos, zeros, q, zeros, zeros);
INSResetP(ekfConfiguration.P);
INSResetP(ekfConfiguration.P.data);
} else {
// Run prediction a bit before any corrections
@ -1028,12 +1028,12 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
INSSetMagNorth(homeLocation.Be);
if (gps_updated && outdoor_mode) {
INSSetPosVelVar((float[3]) { ekfConfiguration.R[EKFCONFIGURATION_R_GPSPOSNORTH],
ekfConfiguration.R[EKFCONFIGURATION_R_GPSPOSEAST],
ekfConfiguration.R[EKFCONFIGURATION_R_GPSPOSDOWN] },
(float[3]) { ekfConfiguration.R[EKFCONFIGURATION_R_GPSVELNORTH],
ekfConfiguration.R[EKFCONFIGURATION_R_GPSVELEAST],
ekfConfiguration.R[EKFCONFIGURATION_R_GPSVELDOWN] }
INSSetPosVelVar((float[3]) { ekfConfiguration.R.fields.GPSPosNorth,
ekfConfiguration.R.fields.GPSPosEast,
ekfConfiguration.R.fields.GPSPosDown },
(float[3]) { ekfConfiguration.R.fields.GPSVelNorth,
ekfConfiguration.R.fields.GPSVelEast,
ekfConfiguration.R.fields.GPSVelDown }
);
sensors |= POS_SENSORS;
@ -1051,12 +1051,12 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
(1.0f - BARO_OFFSET_LOWPASS_ALPHA)
* (-NED[2] - baroData.Altitude);
} else if (!outdoor_mode) {
INSSetPosVelVar((float[3]) { ekfConfiguration.FakeR[EKFCONFIGURATION_FAKER_FAKEGPSPOSINDOOR],
ekfConfiguration.FakeR[EKFCONFIGURATION_FAKER_FAKEGPSPOSINDOOR],
ekfConfiguration.FakeR[EKFCONFIGURATION_FAKER_FAKEGPSPOSINDOOR] },
(float[3]) { ekfConfiguration.FakeR[EKFCONFIGURATION_FAKER_FAKEGPSVELINDOOR],
ekfConfiguration.FakeR[EKFCONFIGURATION_FAKER_FAKEGPSVELINDOOR],
ekfConfiguration.FakeR[EKFCONFIGURATION_FAKER_FAKEGPSVELINDOOR] }
INSSetPosVelVar((float[3]) { ekfConfiguration.FakeR.fields.FakeGPSPosIndoor,
ekfConfiguration.FakeR.fields.FakeGPSPosIndoor,
ekfConfiguration.FakeR.fields.FakeGPSPosIndoor },
(float[3]) { ekfConfiguration.FakeR.fields.FakeGPSVelIndoor,
ekfConfiguration.FakeR.fields.FakeGPSVelIndoor,
ekfConfiguration.FakeR.fields.FakeGPSVelIndoor }
);
vel[0] = vel[1] = vel[2] = 0.0f;
NED[0] = NED[1] = 0.0f;
@ -1084,12 +1084,12 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
if (!gps_vel_updated && !gps_updated) {
// feed airspeed into EKF, treat wind as 1e2 variance
sensors |= HORIZ_SENSORS | VERT_SENSORS;
INSSetPosVelVar((float[3]) { ekfConfiguration.FakeR[EKFCONFIGURATION_FAKER_FAKEGPSPOSINDOOR],
ekfConfiguration.FakeR[EKFCONFIGURATION_FAKER_FAKEGPSPOSINDOOR],
ekfConfiguration.FakeR[EKFCONFIGURATION_FAKER_FAKEGPSPOSINDOOR] },
(float[3]) { ekfConfiguration.FakeR[EKFCONFIGURATION_FAKER_FAKEGPSVELAIRSPEED],
ekfConfiguration.FakeR[EKFCONFIGURATION_FAKER_FAKEGPSVELAIRSPEED],
ekfConfiguration.FakeR[EKFCONFIGURATION_FAKER_FAKEGPSVELAIRSPEED] }
INSSetPosVelVar((float[3]) { ekfConfiguration.FakeR.fields.FakeGPSPosIndoor,
ekfConfiguration.FakeR.fields.FakeGPSPosIndoor,
ekfConfiguration.FakeR.fields.FakeGPSPosIndoor },
(float[3]) { ekfConfiguration.FakeR.fields.FakeGPSVelAirspeed,
ekfConfiguration.FakeR.fields.FakeGPSVelAirspeed,
ekfConfiguration.FakeR.fields.FakeGPSVelAirspeed }
);
// rotate airspeed vector into NED frame - airspeed is measured in X axis only
float R[3][3];
@ -1130,7 +1130,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
EKFStateVarianceData vardata;
EKFStateVarianceGet(&vardata);
INSGetP(vardata.P);
INSGetP(vardata.P.data);
EKFStateVarianceSet(&vardata);
return 0;
@ -1180,17 +1180,17 @@ static void settingsUpdatedCb(UAVObjEvent *ev)
EKFConfigurationGet(&ekfConfiguration);
int t;
for (t = 0; t < EKFCONFIGURATION_P_NUMELEM; t++) {
if (invalid_var(ekfConfiguration.P[t])) {
if (invalid_var(ekfConfiguration.P.data[t])) {
error = true;
}
}
for (t = 0; t < EKFCONFIGURATION_Q_NUMELEM; t++) {
if (invalid_var(ekfConfiguration.Q[t])) {
if (invalid_var(ekfConfiguration.Q.data[t])) {
error = true;
}
}
for (t = 0; t < EKFCONFIGURATION_R_NUMELEM; t++) {
if (invalid_var(ekfConfiguration.R[t])) {
if (invalid_var(ekfConfiguration.R.data[t])) {
error = true;
}
}

2
flight/targets/boards/revoproto/firmware/pios_board.c
View File

@ -866,7 +866,7 @@ void PIOS_Board_Init(void)
{
HwSettingsData hwSettings;
HwSettingsGet(&hwSettings);
if (hwSettings.OptionalModules[HWSETTINGS_OPTIONALMODULES_OVERO] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
if (hwSettings.OptionalModules.fields.Overo == HWSETTINGS_OPTIONALMODULES_ENABLED) {
if (PIOS_OVERO_Init(&pios_overo_id, &pios_overo_cfg)) {
PIOS_DEBUG_Assert(0);
}